task main () {
  int _x_accel = 0;
  int _y_accel = 0;
  int _z_accel = 0;

  int angleI = 0;
  float angleF = 0.0;

  int rotI = 0;
  float rotF = 0.0;

  nxtDisplayCenteredTextLine(0, "MicroInfinity");
  nxtDisplayTextLine(1, "CruizCore XG1300L");
  nxtDisplayCenteredTextLine(3, "Test 1");
  wait1Msec(2000);
  eraseDisplay();

  // There are 3 ranges the Cruizcore XG1300L can measure in
  // up to 2G
  // up to 4G
  // up to 8G
  MICCsetRange8G(MICC);

  // Make sure you always reset the sensor at the beginning of your program
  // The robot needs to be completely stationary or your heading and gyro
  // data won't be accurate.
  MICCreset(MICC);

  while(bSoundActive) EndTimeSlice();

  nxtDisplayTextLine(0, "CruizCore XG1300L");
  while (true) {
    // Read the relative heading from the sensor.
    angleI = MICCreadRelativeHeading(MICC);
    angleF = angleI / 100.0;

    // Read the rate of turn
    rotI = MICCreadTurnRate(MICC);
    rotF = rotI / 100.0;

    // Read the acceleration data from the sensor
    if (!MICCreadAccel(MICC, _x_accel, _y_accel, _z_accel)) {
      nxtDisplayTextLine(4, "ERROR!!");
      wait1Msec(2000);
      StopAllTasks();
    }

    nxtDisplayTextLine(2, "Heading: %4.2f", angleF);
    nxtDisplayTextLine(3, "RoT:     %4.2f", rotF);
    nxtDisplayTextLine(5, "X:      %5.2f", _x_accel/100.0);
    nxtDisplayTextLine(6, "Y:      %5.2f", _y_accel/100.0);
    nxtDisplayTextLine(7, "Z:      %5.2f", _z_accel/100.0);
    wait1Msec(50);
  }
}
Exemplo n.º 2
0
task main () {

  nxtDisplayCenteredTextLine(0, "MicroInfinity");
  nxtDisplayTextLine(1, "CruizCore XG1300L");
  nxtDisplayCenteredTextLine(3, "Test 2");
  wait1Msec(2000);
  eraseDisplay();

  // There are 3 ranges the Cruizcore XG1300L can measure in
  // up to 2G
  // up to 4G
  // up to 8G
  MICCsetRange8G(MICC);

  // Make sure you always reset the sensor at the beginning of your program
  // The robot needs to be completely stationary or your heading and gyro
  // data won't be accurate.
  MICCreset(MICC);

  // Start the task for displaying all the sensor data.
  StartTask(updateHUD);

  nxtDisplayTextLine(0, "CruizCore XG1300L");
  while (true) {
    // Read the relative heading from the sensor.
    angleI = MICCreadRelativeHeading(MICC);

    // Read the rate of turn
    rotI = MICCreadTurnRate(MICC);

    // Read the acceleration data from the sensor
    if (!MICCreadAccel(MICC, x_accel, y_accel, z_accel)) {
      StopTask(updateHUD);
      wait1Msec(100);
      eraseDisplay();
      nxtDisplayTextLine(4, "ERROR!!");
      wait1Msec(2000);
      StopAllTasks();
    }
    wait1Msec(50);
  }
}